Nonlinear PID control to improve the control performance of 2 axes pneumatic artificial muscle manipulator using neural network

Abstract

The application of a robot to rehabilitation has become a matter of great concern because of the requirement of functional recovery therapy of arm or limb. A novel pneumatic artificial muscle (PAM) actuator which has achieved increased popularity to provide the inherent safety and mobility assistance to humans performing tasks and another advantages such as high strength and power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source and so on. However, the complex nonlinear dynamics of the PAM manipulator makes it a challenging and appealing system for modeling and control design. The problems with the time variance, compliance, high hysteresis and nonlinearity of pneumatic systems have made it difficult to realize precise position control. In order to realize satisfactory control performance, the effect of nonlinear factors contained in the PAM manipulator must be considered. The purpose of this study is to improve the control performance of 2 axes PAM manipulator using a nonlinear PID controller. Superb mixture of conventional PID controller and the neural network, which has powerful capability of learning, adaptation and tackling nonlinearity, brings us a novel nonlinear PID controller using neural network. This proposed controller is appropriate for a kind of plants with nonlinearity uncertainties and disturbances. The experiments were carried out in practical 2 axes PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through the experiments, which suggests its superior performance and disturbance rejection.